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#include "../PreFlightCheck.hpp"

#include <systemlib/mavlink_log.h>

using namespace time_literals;

bool PreFlightCheck::modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail,
			       const vehicle_status_s &vehicle_status)
{
	bool success = true;

	switch (vehicle_status.nav_state) {
	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
	case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
	case vehicle_status_s::NAVIGATION_STATE_ACRO:
	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
	case vehicle_status_s::NAVIGATION_STATE_STAB:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:

	// allow arming in land mode to prevent MAVSDK examples from failing on master until the workflow is changed
	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
		break;

	default:
		success = false;

		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Mode not suitable for takeoff");
		}

		break;
	}

	return success;
}
